Ball detection for KRSBI soccer robot using PeleeNet on omnidirectional camera

In this research Trigonometry Technique was implemented to predict the ball movement direction for Wheeled Soccer Robot Goalkeeper. The performance of goalkeeper robot in Wheeled Soccer Robot Contest is very important. The crucial problem with goalkeeper robot is the delay in ball detection by the camera because the results of the camera images captured are always slower than the pictures that have been captured. This causes the robot's response to blocking the opponent's kick ball being late. Trigonometry Technique is one technique that can be used to predict the direction of the ball movement based on trigonometry mathematical formulas. The input data used is the location of the last ball position (x–last ball and y-last ball) and the location of the current ball position (x-current ball and y-current ball). The outputs are the prediction of the next ball location (x-predict ball and y-predict ball) and the prediction of ball movement direction prediction. The results are the goalkeeper's robot successfully predicts the opponent's kick direction with 90% accuracy and can predict the location of the next ball very well. By implementing this method, it is expected to optimize the performance of the goalkeeper robot in saving the goal.

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Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Jurnal INFORM ◽

10.25139/inform.v5i2.2744 ◽

2020 ◽

Vol 5 (2) ◽

pp. 86-91

Author(s):

Mochamad Mobed Bachtiar ◽

Iwan Kurnianto Wibowo ◽

Rakasiwi Bangun Hamarsudi

Keyword(s):

Goal Area ◽

Front Side ◽

Soccer Robot ◽

Omnidirectional Camera ◽

Goal Detection ◽

The Right ◽

Robot Position ◽

Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can make the decision to maneuver in the match to get the right goal kick. There are various methods of detecting goal. One of them is to detect goal post using vision. In this study the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area that is detected is the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.Keywords— omnidirectional camera, vision, radial search lines, goal detection, ersow soccer robot

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Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Jurnal INFORM ◽

10.25139/inform.v0i1.2744 ◽

2020 ◽

Vol 5 (2) ◽

pp. 86

Author(s):

Mochamad Mobed Bachtiar ◽

Iwan Kurnianto Wibowo ◽

Rakasiwi Bangun Hamarsudi

Keyword(s):

Goal Area ◽

Front Side ◽

Soccer Robot ◽

Omnidirectional Camera ◽

The Right ◽

Robot Position ◽

Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can decide to maneuver in the match to get the right goal kick. There are various methods of detecting goals. One of them is to detect goal posts using vision. In this study, the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area is detected on the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.

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Development of Ball Detection System with YOLOv3 in a Humanoid Soccer Robot

Journal of Physics Conference Series ◽

10.1088/1742-6596/2111/1/012055 ◽

2021 ◽

Vol 2111 (1) ◽

pp. 012055

Author(s):

A C Nugraha ◽

M L Hakim ◽

S Yatmono ◽

M Khairudin

Keyword(s):

Humanoid Robot ◽

Detection System ◽

Humanoid Robots ◽

Test Results ◽

Soccer Robot ◽

Robot Soccer ◽

Is Research ◽

Field Boundaries ◽

Basic Ability ◽

Ball Detection

Abstract One of the practical researches of humanoid robots is research on the use of humanoid robots to play soccer. Research in this field is also encouraged by the existence of various humanoid robot soccer competitions. In humanoid robots for soccer, one of the important aspects is the robot’s ability to detect the ball, goal, field boundaries and other players, both friend players and opposing players. This study focuses on the ball detection system which is a basic ability that humanoid robots need to have. The ball detection system developed in this study uses the YOLOv3 method. The test results show that the system built and trained with 3000 image samples can detect balls at a distance of 50 to 900 cm. The time it takes to detect the ball is about 0.033 seconds.

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